8,256 research outputs found
Decentralized dynamic task allocation for UAVs with limited communication range
We present the Limited-range Online Routing Problem (LORP), which involves a
team of Unmanned Aerial Vehicles (UAVs) with limited communication range that
must autonomously coordinate to service task requests. We first show a general
approach to cast this dynamic problem as a sequence of decentralized task
allocation problems. Then we present two solutions both based on modeling the
allocation task as a Markov Random Field to subsequently assess decisions by
means of the decentralized Max-Sum algorithm. Our first solution assumes
independence between requests, whereas our second solution also considers the
UAVs' workloads. A thorough empirical evaluation shows that our workload-based
solution consistently outperforms current state-of-the-art methods in a wide
range of scenarios, lowering the average service time up to 16%. In the
best-case scenario there is no gap between our decentralized solution and
centralized techniques. In the worst-case scenario we manage to reduce by 25%
the gap between current decentralized and centralized techniques. Thus, our
solution becomes the method of choice for our problem
Target Assignment in Robotic Networks: Distance Optimality Guarantees and Hierarchical Strategies
We study the problem of multi-robot target assignment to minimize the total
distance traveled by the robots until they all reach an equal number of static
targets. In the first half of the paper, we present a necessary and sufficient
condition under which true distance optimality can be achieved for robots with
limited communication and target-sensing ranges. Moreover, we provide an
explicit, non-asymptotic formula for computing the number of robots needed to
achieve distance optimality in terms of the robots' communication and
target-sensing ranges with arbitrary guaranteed probabilities. The same bounds
are also shown to be asymptotically tight.
In the second half of the paper, we present suboptimal strategies for use
when the number of robots cannot be chosen freely. Assuming first that all
targets are known to all robots, we employ a hierarchical communication model
in which robots communicate only with other robots in the same partitioned
region. This hierarchical communication model leads to constant approximations
of true distance-optimal solutions under mild assumptions. We then revisit the
limited communication and sensing models. By combining simple rendezvous-based
strategies with a hierarchical communication model, we obtain decentralized
hierarchical strategies that achieve constant approximation ratios with respect
to true distance optimality. Results of simulation show that the approximation
ratio is as low as 1.4
Game-theoretic Resource Allocation Methods for Device-to-Device (D2D) Communication
Device-to-device (D2D) communication underlaying cellular networks allows
mobile devices such as smartphones and tablets to use the licensed spectrum
allocated to cellular services for direct peer-to-peer transmission. D2D
communication can use either one-hop transmission (i.e., in D2D direct
communication) or multi-hop cluster-based transmission (i.e., in D2D local area
networks). The D2D devices can compete or cooperate with each other to reuse
the radio resources in D2D networks. Therefore, resource allocation and access
for D2D communication can be treated as games. The theories behind these games
provide a variety of mathematical tools to effectively model and analyze the
individual or group behaviors of D2D users. In addition, game models can
provide distributed solutions to the resource allocation problems for D2D
communication. The aim of this article is to demonstrate the applications of
game-theoretic models to study the radio resource allocation issues in D2D
communication. The article also outlines several key open research directions.Comment: Accepted. IEEE Wireless Comms Mag. 201
On distributed virtual network embedding with guarantees
To provide wide-area network services, resources from different infrastructure providers are needed. Leveraging the consensus-based resource allocation literature, we propose a general distributed auction mechanism for the (NP-hard) virtual network (VNET) embedding problem. Under reasonable assumptions on the bidding scheme, the proposed mechanism is proven to converge, and it is shown that the solutions guarantee a worst case efficiency of (?????) relative to the optimal solution, and that this bound is optimal, that is, no better approximation exists. Using extensive simulations, we confirm superior convergence properties and resource utilization when compared with existing distributed VNET embedding solutions, and we show how byappropriate policy design, our mechanism can be instantiated to accommodate the embedding goals of different service and infrastructure providers, resulting in an attractive and flexible resource allocation solution.This work is supported in part by the National Science Foundation under grant CNS-0963974
Agent-based material transportation scheduling of AGV systems and its manufacturing applications
制度:新 ; 報告番号:甲3743号 ; 学位の種類:博士(工学) ; 授与年月日:2012/9/10 ; 早大学位記番号:新6114Waseda Universit
On distributed virtual network embedding with guarantees
To provide wide-area network services, resources from different infrastructure providers are needed. Leveraging the consensus-based resource allocation literature, we propose a general distributed auction mechanism for the (NP-hard) virtual network (VNET) embedding problem. Under reasonable assumptions on the bidding scheme, the proposed mechanism is proven to converge, and it is shown that the solutions guarantee a worst case efficiency of (?????) relative to the optimal solution, and that this bound is optimal, that is, no better approximation exists. Using extensive simulations, we confirm superior convergence properties and resource utilization when compared with existing distributed VNET embedding solutions, and we show how byappropriate policy design, our mechanism can be instantiated to accommodate the embedding goals of different service and infrastructure providers, resulting in an attractive and flexible resource allocation solution.This work is supported in part by the National Science Foundation under grant CNS-0963974
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